Trinocular vision system based on cameras with tilt–shift lens

Abstract

In multi-camera vision system, two major deficiencies are the limited field of view and the difficulty of feature matching. In this paper, a camera with tilt–shift lens is designed and a trinocular vision system based on the camera is detailed. The tilt–shift lens, which meets the Scheimpflug condition, can enlarge the overlapping area of the trinocular vision system. The trifocal tensor which can provide a strong constraint is determined, and the trifocal tensor is used for feature matching and 3D reconstruction in this paper.